Haptic navigation method and system
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- THIS WAY R&D LTD
- Filing Date
- 2025-12-04
- Publication Date
- 2026-06-18
AI Technical Summary
Existing haptic navigation systems are complex and inefficient in distinguishing right and left turns with minimal user response time, lacking simplicity, intuitiveness, and safety.
A haptic navigation system comprising two separate devices, one for each limb, providing distinct vibration patterns for left and right turns, integrated with a controller device for wireless communication and location tracking, enabling hands-free and eyes-free navigation.
The system provides intuitive, safe, and effective navigation by reducing user response time through independent limb-based vibrations, suitable for various transport modes and adverse conditions.
Smart Images
Figure IB2025000572_18062026_PF_FP_ABST
Abstract
Description
[0001] HAPTIC NAVIGATION METHOD AND SYSTEM
[0002] DESCRIPTION
[0003] TECHNICAL SECTOR
[0004] The technical field of the present invention is haptic navigation systems or devices.
[0005] OBJECT OF THE INVENTION
[0006] According to a first aspect, the present invention relates to a haptic navigation method in a navigation system.
[0007] According to a second aspect, the present invention concerns a haptic navigation system (product) for executing the method of the first aspect of the invention.
[0008] STATE OF THE ART AND TECHNICAL PROBLEM TO BE SOLVED
[0009] Many haptic navigation methods and systems are known in the state of the art.
[0010] US Patent 2014180582A1 discloses a navigation apparatus 100 comprising a single wristband 110 comprising a plurality of haptic devices 155-g (vibrating devices, electrostatic devices, etc.) arranged around a circumference of the wristband. The single wristband 110 vibrates externally, internally, or circumferentially. The wristband 110 is linked to an electronic / computing device 120 (e.g., a mobile phone). The wristband 110 is a type of watch or bracelet that protects and supports a plurality of strips or segments to be placed on the user's wrist.
[0011] US2014180582A1 explicitly describes in paragraph 0069 that, to minimize user confusion, a 3D localization system for the wristband 110 relative to the electronic / computational device 120 is necessary; that is, a 3D local coordinate localization system between navigation system devices. Additionally, a right turn is always indicated by a group of haptic devices 155-g (i.e., by a portion of the wristband 110 vibrators) located on the user's right side. Thus, the solution in US2014180582A1 is complex and inefficient for distinguishing right turns from left turns with the shortest possible user response time.
[0012] On the other hand, to solve this, document US2016091336A1, considered the closest document to the state of the art, discloses a navigation method using two dedicated vibration devices linked to a smart mobile device, a left device intended to vibrate indicating left turn positions and a right device intended to vibrate indicating right turn positions, each attachable in an annular arrangement around the user's wrist and / or ankle.
[0013] The technical problem to be solved is to provide a simple and effective haptic navigation solution: intuitive, safe, non-intrusive and accessible.
[0014] EXPLANATION OF THE INVENTION
[0015] According to a first aspect, the present invention presents a haptic navigation method, for navigating from an initial position to a destination position, with a haptic navigation system.
[0016] The navigation system comprises two physically separate devices, corresponding to a left device and a right device.
[0017] Each of the left and right devices comprises a band that can be attached in an annular arrangement, like a ring, around a respective limb of a user, with or without clothing, including the cases of the arm (between the shoulder and the elbow), the forearm (between the elbow and the wrist), the wrist and the ankle, among other options.
[0018] Each of the left and right devices further comprises a wireless unit and a touch stimulation module connected to the wireless unit and supported on the band.
[0019] Thus, the left device and the right device with two physically separate, attachable devices, one on a left limb to indicate left turns and the other on a right limb to indicate right turns, independently and separately.
[0020] Throughout this document, the term “connected” includes connecting directly, or indirectly through one or more intermediary elements, two elements by means of a wireless connection or by means of control signal cables, which may be, for example, communication buses, or multi-wire or single-wire cables, fiber optic cables or Ethernet, among others.
[0021] The navigation system further comprises a controller device that includes a computer programmable processor device, and a wireless module, a location module, and a router module connected to the computer programmable processor device.
[0022] The controlling device should be understood in a broad and non-limiting sense, and includes the case of a smartphone, a tablet, a smartwatch, a server, a computer, among other options.
[0023] The elements included in the controller device should be understood as generic elements of the same, conventional or not, included in controller devices used in a generalized way.
[0024] In the present invention, the term “computer programmable processing device” included in the controller device includes the cases of “controller”, “microprocessor” or “control unit”, “central processing unit” or its acronym “CPU”, “computer”, “microcomputer”, “computer”, “microcomputer”, among others.
[0025] In the present invention, the term “computer-programmable processing device” as understood in the controller device includes the case of a single computer-programmable controller device; and also includes the case where the computer-programmable processing device is distributed among a plurality of computer-programmable processors, for example, of the dual type with two processors, or for example, one or more of them being a computer-programmable processor that acts as the master of the other controllers, among other options
[0026] In the present invention, the term “location module” comprising the controller device is also referred to in the literature as a “receiver module,” “geolocation module,” or “tracking module,” and refers to any entity, element, or device capable of receiving data from a satellite system, such as GPS (Global Positioning System), GLONASS (Global Navigation Satellite System), BeiDou, or Galileo, among others. Preferably, this location module is a device capable of providing received latitude and longitude coordinates to a computer-programmable processing device.
[0027] In the present invention, the terms “wireless unit” and “wireless module” refer to entities, elements, or devices capable of receiving and / or transmitting signals / data in a wireless network, and depending on their functionality, include cases of “wireless receiver,” “wireless transmitter,” or “wireless transmitter and receiver,” among other options.
[0028] The method comprises the step of continuously connecting the left device, the right device, and the controller device to each other through a wireless network.
[0029] Preferably, this wireless network may be Bluetooth and / or WiFi, among others.
[0030] Preferably, the connect stage comprises the stage of receiving in the wireless module of the controller device a synchronization signal sent through the wireless units when the user interacts with a user interface of the navigation system.
[0031] The term “user interface” used throughout this document may correspond to a touch screen, a push button, a selector, and any of the “actuating devices” defined in Machinery Directive 2006 / 42 / EC of the European Parliament and of the Council, among others.
[0032] In one option, this user interface may be supported on at least one of the bands, for example, it may be one or more pushbuttons or an auxiliary touch screen supported on each band and connected to the respective wireless unit.
[0033] Alternatively, this user interface corresponds to a touch screen on the controller device.
[0034] Similarly, the method includes the stage of continuously receiving the user's position in the location module.
[0035] Throughout this document, "user position" refers to the position continuously received by the location module. Similarly, the method includes the step of receiving the initial and destination positions of a route, to be entered by the user, into the navigation system.
[0036] Preferably, the initial and destination positions are received via a touch screen of the controller device, although alternatively the initial and destination positions may be received by interacting with one or more pushbuttons or an auxiliary touch screen arranged on at least one of the bands and connected to the respective wireless unit.
[0037] The method also includes the stage of receiving step-by-step navigation directions of the navigation route in the internet-connectable router module, including left turn positions and right turn positions.
[0038] Likewise, the method includes the stage of receiving signals, through the wireless network, in each wireless unit of each left and right device sent by the wireless module.
[0039] Also, the method includes the stage of stimulating the left device band with a left vibration pattern provided by the left device's touch stimulation device, from the signals received on the left device's wireless unit, to indicate a left-turn position.
[0040] Furthermore, the method comprises the stage of stimulating the right device band with a right vibration pattern provided by the right device's touch stimulation device, from the signals received on the right device's wireless unit, to indicate a right-turn position.
[0041] Similarly, the method includes the stage of automatically determining a mode of transport, based at least on a user speed and / or a user acceleration, determined with the user positions received in the location module at different times.
[0042] The method also includes the step of dynamically changing from one mode of transport to another at one or more intermediate positions between the initial position and the destination position, by comparing speed conditions with the user's speed and / or by comparing acceleration conditions with the user's acceleration, storing in a memory area of the navigation system a plurality of route segments with a respective mode of transport.
[0043] Preferably, said route with a plurality of route segments with respective transport modes is stored in a memory area of a controller device memory and / or left device and / or right device.
[0044] Advantageously, the method of the first aspect of the invention, thanks to the vibrational / tactile / haptic stimuli, in the form of vibration patterns, provided by the left and right devices, capable of being applied to a left and right limb of the user's body, respectively, and independently, enables a hands-free and eyes-free navigation solution during navigation, which is very intuitive, safe, simple and effective, leaving visual or audio directional indications as an option.
[0045] Advantageously, this solution can be used by users without any type of disability or illness, as well as by users with some type of disability and / or illness, for example, blind users, users with reduced vision, users with neurodegenerative diseases, among many other options, both for navigating on foot, as assisted by some vehicle and / or performing some activity at high speed.
[0046] Advantageously, when this solution is used for navigation while performing a high-speed activity or an activity where the user receives strong vibrations—for example, in sports such as cycling, skiing, horseback riding, or motorized activities such as driving an electric scooter, SUV, motorcycle, etc.—the two bands and each tactile stimulation module positioned on each band ensure that the vibration patterns are received independently by the user's left and right limbs. This has the technical effect of shortening the user's reaction time after or during the reception of vibration patterns when turning left or right. This is especially useful in adverse weather conditions such as rain, storms, fog, or snow.This reduction in user response time results in an improved, more intuitive, safe, simple, and effective use of the navigation solution.
[0047] Advantageously, and in addition to the previous paragraph, the present solution takes advantage of the elements conventionally integrated into the controller devices and their features: computer programmable controller device, router module, location module, etc., not only to provide minimal manufacturing costs for the left and right devices, providing simplicity and efficiency in them, but also to shorten signal transmission times between the controller device and the left and right devices, resulting in an improvement in the overall user response time.
[0048] Furthermore, this method appropriately shortens user response times based on the mode of transport automatically determined by the navigation system: walking, cycling, car, etc., offering an intuitive, simple, safe, non-intrusive, and efficient navigation solution. It also provides simple and effective management of multiple modes of transport along the route for statistical purposes, in various route segments that are identified and dynamically changed by the navigation system in a fully automated manner.
[0049] According to a second aspect, the present invention features a haptic navigation system.
[0050] The navigation system comprises a left device and a right device.
[0051] Each left and right device comprises a band attachable in an annular arrangement around a respective limb of a user, with or without clothing, including the arm (between the shoulder and the elbow), the forearm (between the elbow and the wrist), the wrist and the ankle, among other options.
[0052] Each left and right device further comprises a wireless unit and a touch stimulation module connected to the wireless unit and supported on the band.
[0053] Thus, the left device and the right device with two physically separate, attachable devices, one on a left limb to indicate left turns and the other on a right limb to indicate right turns, independently and separately.
[0054] The navigation system also comprises a controller device including a computer-programmable processor, and a wireless module, a location module, and a router module connected to the computer-programmable processor. The navigation system comprises means adapted for executing the steps of the method of the first aspect of the invention.
[0055] Throughout this document, the following expressions have the same meaning: “the navigation system comprises means adapted for”, “the navigation system comprises devices adapted for”, “the navigation system comprises devices configured for”, “the navigation system is configured for”, and can be substituted for one another interchangeably.
[0056] The haptic navigation system of the second aspect of the invention benefits from the advantages and technical effects of the first aspect of the invention.
[0057] For those skilled in the art, other objects, advantages, and features of the invention will become apparent partly from the description and partly from the practice of the invention. Other embodiments may be made by those skilled in the art in light of this description without exceeding the scope defined in the claims.
[0058] The following examples and drawings are provided for illustrative purposes and are not intended to be limiting of the present invention.
[0059] Numerical symbols relating to drawings and placed in parentheses in a claim are only intended to enhance the understanding of the claim and should not be construed as limiting the scope of protection of the claim.
[0060] The letters assigned to each of the steps and placed in parentheses in the claims and throughout the specification are only to try to increase the understanding of the claim, and should not be interpreted as limiting the order in which those steps occur.
[0061] The present invention covers all possible combinations of particular and preferred embodiments indicated herein.
[0062] BRIEF DESCRIPTION OF THE DRAWINGS
[0063] To complement the description of the object of the present invention and to aid in a better understanding of its distinguishing characteristics, a set of drawings is included as an integral part of this specification, in which the following is represented for illustrative and non-limiting purposes: Fig. 1 shows a flowchart of the steps of an embodiment of the haptic navigation method of the first aspect of the present invention; Fig. 2 shows a first embodiment of the navigation system controller device, in this case a mobile phone or tablet, where two segments of the route are shown on its screen, the mode of transport for the first segment being by car and the mode of transport for the second segment being by bicycle; Fig.Figure 3 shows a front view of the first and second embodiments of the navigation system of the second aspect of the invention, which includes the left and right devices in an annular arrangement, and the controller device of Figure 2 or 11; Figure 4 shows a partially sectioned schematic front view of a module supported on each band of each left and right device in Figure 3, which includes the wireless unit and a tactile stimulation module, according to a first embodiment of the navigation system; Figure 5 is a partially sectioned schematic front view of the controller device of Figure 3, showing the elements included therein, according to a first embodiment of the navigation system; Figure 6 is a perspective view of the left device of Figure 3; Figure 7 is a perspective view of the right device of Figure 3; Figure 8 is a perspective view of the right device of Figure 3;Figure 8 shows a rear view of the left and right devices of Figures 6 and 7, respectively; Figure 9 shows a rear plan view of any one of the left or right devices of Figures 6 and 7 with the band in a flat arrangement, respectively; Figure 10 shows a partially sectioned front schematic view of a module supported on each band of each left and right device in Figure 3, which includes the wireless unit and a touch stimulation module, according to a second embodiment of the navigation system; and Figure 11 is a partially sectioned front schematic view of the controller device of Figure 3, showing the elements included therein according to a second embodiment of the navigation system.
[0064] DETAILED EXPLANATION OF MODES OF REALIZATION / EXAMPLES
[0065] Fig. 1 shows a first realization of a flowchart corresponding to the steps of a haptic navigation method, to navigate from an initial position (Pl) to a destination position (PD), with one of the two realizations of the navigation system (20) shown in Figs. 2 to 11.
[0066] Fig. 3 shows that the navigation system (20) comprises two devices (10L, 10R), which correspond to a left device (10L) and a right device (10R) also shown in Figs. 6 to 10.
[0067] In Figs. 3 and 6 to 9, each of the left and right devices (10L, 10R) comprises a band (1) attachable in an annular arrangement around a limb of a user, with or without clothing, including the arm (between the shoulder and the elbow), the forearm (between the elbow and the wrist), the wrist and the ankle, among other options.
[0068] Furthermore, each of the left and right devices (10L, 10R) comprises a wireless unit (3) and a touch stimulation module (4) connected to the wireless unit (3). In each left and right device (10L, 10R), the wireless unit (3) and the touch stimulation module (4) are supported on the band (1).
[0069] Preferably, Fig. 4 shows that the wireless unit (3) and the touch stimulation module (4) of each left and right device (10L, 10R) are arranged in a module (2), and optionally housed inside it.
[0070] Continuing with Figs. 2, 3 and 5, the navigation system (20) further comprises a controller device (30) which includes a computer programmable processor device (31).
[0071] The navigation system (20) further comprises a wireless module (33), a location module (32), and a router module (34) connected to the computer-programmable processing device (31). The controller device (30) in Figs. 3 and 5 preferably represents a smartphone, although it may alternatively represent a smart tablet.
[0072] In Fig. 1, this method begins with the step of (a) continuously connecting the left device (10L), the right device (10R), and the controller device (30) to each other through a wireless network, for example, via Bluetooth, preferably through the Bluetooth settings of the controller device (30).
[0073] Thus, in the (a) connection stage, the three devices, left device (10L), right device (10R) and the controller device (30), are continuously synchronized by this wireless connection, thanks to the wireless module (33) of the controller device (30) and the wireless unit (3) of each left and right device (10L, 10R).
[0074] In said stage (a) of connecting, the user interacts with a user interface of the navigation system (20), either by interacting with a drive organ or screen on each module (2), and / or by interacting with a touch screen (35) of the controller device (30) to receive in the wireless module (33) of the controller device (30) a synchronization signal from the wireless unit (3) of each left and right device (10L, 10R).
[0075] Thus, for example, the (a) connect step may include the step of interacting with a touch screen (35) of the controller device (30), after displaying on the screen (35) a text and / or image indicating that the left and right devices should be synchronized.
[0076] After this interaction stage, stage (a) also includes the stage of pressing two actuating organs, preferably two buttons, one arranged in each module (2) of each band (1).
[0077] Optionally, after the step of pressing two actuating organs, the method comprises the step of confirming the connection, preferably by interacting with the touch screen (35).
[0078] Optionally, prior to the connecting step (a), the method comprises the step of instructing the user on a navigation system user interface (20), for example, on the touch screen (35) of the controller device (30), to place the left and right devices (10L, 10R) on the left and right wrists, respectively.
[0079] Once the left and right devices (10L) and the controller device (30) have been synchronized in the (a) connecting stage, the method comprises the stage of (b) continuously receiving the user's position (PU) in the locator module (32).
[0080] The user's position is stored in a first memory area (37a) of a memory (37) of the controller device (30) connected to the computer programmable controller device (31), as shown in Fig. 5.
[0081] In Fig. 1, once steps (a) and (b) are being executed, the method comprises the step of (c) receiving in the navigation system (20) the initial position (Pl) and the destination position (PD) entered by the user.
[0082] Alternatively, in an option not shown in Fig. 1, the receiving step (c) can be carried out during the connecting step (a) and prior to the start of the receiving user position (PU) step (b).
[0083] Preferably, the initial (Pl) and destination (PD) positions are received through the touch screen (35) of the controller device (30) when the user interacts with the touch screen (35).
[0084] In another option, the initial position (Pl) and destination position (PD) are received by voice through a microphone (38) of the controlling device (30) of Fig. 5.
[0085] Alternatively, initial position (Pl) and destination position (PD) are received by interacting with one or more pushbuttons or an auxiliary display (not shown) arranged on at least one of the bands (1) and connected to the respective wireless unit (3).
[0086] The initial position (Pl) and destination position (PD) are stored in a second memory area (37b) of memory (37), as shown in Fig. 5.
[0087] In Fig. 1, after step (c) of receiving the initial (Pl) and destination (PD) positions, the method comprises step (d) of receiving, in the internet-connectable router module (34), data that includes step-by-step navigation directions.
[0088] The step-by-step navigation directions include left turn positions (PLT1, PLTN) and right turn positions (PRT1, PRTN) of a navigation route from the initial position (Pl) to the destination position (PD). This data, which includes the step-by-step navigation directions, is stored in a third memory area (37c) of memory (37), as shown in Fig. 5.
[0089] Preferably, each left (PLT1, PLTN) or right (PRT1, PRTN) turning position is assigned a latitude and longitude, within certain margins of error.
[0090] Preferably, the turn-by-turn navigation directions received by the router module (34) come from a mobile mapping program / application such as Google Maps, City Mapper, or others. The mobile mapping application will vary depending on the country requirements and the positional accuracy of the mapping application.
[0091] Optionally, with the receiving step (d), the method initiates navigation by interacting with the touch screen (35), or by interacting with a drive organ or user interface (7) arranged in the module (2).
[0092] Continuing in Fig. 1, after the receiving stage (d), the method comprises the stage of (e) receiving signals, through the wireless network, in each wireless unit (3) of each left and right device (10L, 10R) sent by the wireless module (33) of the controller device (30).
[0093] Continuing Fig. 1, to indicate a left-turn position (PLT1, PLTN), the method comprises the step of (f) stimulating the band (1) of the left device (10L) with a left vibration pattern (LVP1, LVPN) provided by the tactile stimulation device (4) of the left device (10L), from the signals received in step (e).
[0094] Continuing in Fig. 1, to indicate a right-hand rotation position (PRT1, PRTN), the method comprises the step of (g) stimulating the band (1) of the right device (10R) with a right-hand vibration pattern (RVP1, RVPN) provided by the tactile stimulation device (4) of the right device (10R), from the signals received in step (e).
[0095] Optionally, the method further comprises the step of displaying, on the touchscreen (35) or on a peripheral vision LED touchscreen arranged on one of the bands (1), a map showing the user's position and the route to follow, to optionally assist in navigation during steps (e), (f), and / or (g). Likewise, the method optionally further comprises the step of providing supplementary step-by-step navigation directions to the user via audio, through an additional device, for example, Bluetooth-connectable headphones or earphones (not shown), or a microphone (38) of the controller device (30) shown in Fig. 5, to optionally assist in navigation during the steps.
[0096] (e), (f) and / or (g).
[0097] Additionally, the left (10L) or right (10L) device may include an NFC (near field communication) chip for making payments.
[0098] In the method of Fig. 1, if, for example, a plurality of turns must be made at different turn positions (PLT1, PLN, PRT1, PRTN) to navigate from the initial position (PI) to the destination position (PD), Fig. 1 may optionally represent that all navigation directions of step (d) have been received at the router module (34) before starting step (e) of receiving signals at each wireless unit (3) of each left and right device (10L, 10R).
[0099] In the method of Fig. 1, if, for example, a plurality of turns must be made at different positions to navigate from the initial position to the destination position (DP), Fig. 1 may alternatively represent that only one or more of the navigation directions from step (d) have been received in the router module (34), to subsequently execute steps (e), (f), and / or (g). Then, after executing the stimulus step (f) or (g), the method continues in the step of receiving one or more further navigation directions from the step-by-step navigation directions in the router module (34), to again execute steps (e) and (f).
[0100] (f) and / or (g).
[0101] In Fig. 1, the method comprises, after step (d) and before the stimulation steps (f) or (g), the step of assigning to each of the left (PLT1, PLTN) or right (PRT1, PRTN) turning positions a respective left (LVP1, LVPN) or right (PRT1, PRTN) vibration pattern.
[0102] Figure 1 shows that the method also continuously compares the user's position (Pll) with the target position (PD). In an alternative option not shown, the method may compare the user's position (Pll) with the nearest turning position (PLT1, PLTN, PRT1, PRTN) to the user's position (Pll). In Figure 1, if during or after either of the stimulation steps (f) or (g) the user's position (Pll) is not equal to the target position (Pll) within a certain range, the method continues to step (e) by receiving signals at each wireless unit (3) of each left and right device (10L, 10R). Then, one or the other band (1) is stimulated in step (f) or (g) to indicate a subsequent left or right turning position (PLT1, PLTN, PRT1, PRTN), and this loop is repeated until the target position (PD) is reached.
[0103] In Fig. 1, if after the start of any of the stimulation stages (f) or (g) the user's position (Pll) is equal to the destination position (Pll), within a margin, the user has reached their destination.
[0104] Continuing in Fig. 1, the method further comprises, after step (d) receiving in the router module (34) step-by-step navigation directions of the route, step (p) of automatically determining a transport mode (TM1), based at least on a user speed (Vil) determined with the user positions (Pll) received in the location module (32) at different times and / or a user acceleration (All) determined with the user positions (Pll) received in the location module (32) at different times.
[0105] This step (p) of automatically determining a mode of transport (TM1) is executed by the computer programmable processing device (31) and / or by a processor (8) of the right (10R) or left (10L) device.
[0106] Thus, with the user positions (Pll) of the location module (32) a user speed (Vil) is calculated and additionally or alternatively a user acceleration (All).
[0107] Continuing in Figs. 1 and 2, after step (p) of automatically determining a mode of transport (TM1), the method comprises step (q) of dynamically and automatically switching from one mode of transport (TM1) to another (TM2) at one or more intermediate positions (PTS2) between the initial position and the destination position (PD), by comparing speed conditions (VC) with the user speed (Vil) and / or by comparing acceleration conditions (AC) with the user acceleration (All), storing in a memory area of the navigation system (20) a plurality of route segments (SR1, SR2) with a respective mode of transport, as shown in Fig. 2. In Figs. 5 and 11, the memory area that stores a plurality of route segments (SR1, SR2) with a respective mode of transport is included in the memory (37) of the controller device (30).
[0108] In Figs. 1 and 2, in step (q) dynamically changing from one transport mode (TM1) to another (TM2), the step of comparing acceleration conditions (AC) comprises the step of detecting a predetermined acceleration pattern from user acceleration data (All) obtained with an industrial measuring unit (39), equipped with an accelerometer and gyroscope, included in the navigation system (20).
[0109] In Fig. 11, the industrial measuring unit (39) is contained in the controller device (30), connected to the computer programmable processor device (31), thereby detecting acceleration patterns by processing data from the industrial measuring unit (39) in the computer programmable processor device (31).
[0110] Alternatively, in an option not shown in the figures, the commercial measuring unit (39) is contained in the controller device (30), connected to the computer programmable processor device (31), thereby detecting acceleration patterns.
[0111] That is, in a preferred alternative option, the method does not obtain the user's acceleration (All) from the position module data (32) but from data obtained with the industrial measurement unit (39), processed in the navigation system (20) to detect an acceleration pattern, improving the response time in the stimulation of the bands (1).
[0112] Throughout the present invention, the speed conditions (VC) and / or the acceleration conditions (AC) are defined and / or modified by statistical rules (e.g., values and / or duration times set out above), predictive models (based on artificial intelligence, machine learning, neural networks, decision trees, regressive models, reinforcement learning), from the user speed (Vil) and / or user acceleration (All) data.
[0113] In Figs. 1 and 2, the navigation system (20) has automatically determined the transport mode (TM1) corresponding to “car / motorcycle” and therefore displays on the touch screen (35) of the controller device (30) a car icon associated with a first segment of the route (SR1) that goes from the initial position (Pl) to the intermediate position (PTS2).
[0114] Continuing with Figs. 1 and 2, at the intermediate position (PTS2) the navigation system (20) has dynamically changed the transport mode (TM1) “car / motorcycle” to another transport mode (TM2) “bicycle / scooter”, and that is why the touch screen (35) of the controller device (30) shows a bicycle cone associated with a second segment of the route (SR2) that goes from the intermediate position (PTS2) to the destination position (PD).
[0115] According to another example not shown, the navigation system (20) determines three or more segments with a respective mode of transport each.
[0116] Continuing with Figs. 1 and 2, in stage (q), a dynamic change from one mode of transport (TM1) to another (TM2) occurs if the user's speed (Vil) and the detected acceleration pattern are consistent with the same mode of transport (TM2) within predefined tolerances.
[0117] Continuing in Figs. 1 and 2, in stage (q), the navigation system (20) selects the transport mode corresponding to the detected acceleration pattern if the user speed (Vil) and the detected acceleration pattern are not consistent with the same transport mode (TM2) within predefined thresholds greater than the predefined tolerances.
[0118] In Figs. 1 and 2, in stage (q), if the user speed (Vil) and acceleration pattern are not consistent with the same mode of transport (TM2) within predefined margins greater than the predefined thresholds, the navigation system (20) identifies mode detection inconsistency.
[0119] After identifying the mode detection inconsistency, the navigation system (20) records this condition.
[0120] Optionally, the user may manually select in a navigation system user interface (20) the mode of transport identified as inconsistent.
[0121] In one example, a transport mode (TM1) “walking” is automatically determined if the user's speed (Vil) is greater than 0.5 m / s and less than 2 m / s for a sustained period of 30 seconds, this speed range and / or duration constituting the speed conditions (VC). Additionally, the transport mode (TM1) “walking” is confirmed by data from the industrial measuring unit (39) upon detection of a stride acceleration pattern in the controller device (30), corresponding to the acceleration conditions (AC). The stride acceleration pattern corresponds to a regular periodic pattern with two peaks per step cycle of low and constant amplitude, typically ranging from 1 to 2.5 Hz.
[0122] In another example, a "running" transport mode (TM1) is automatically determined if the user's speed (Vil) is between 3 and 5 m / s, optionally for a predetermined time interval, this being the speed condition (VC). Additionally, the "running" transport mode (TM1) is confirmed by data from the industrial measuring unit (39) upon detection of an acceleration pattern—a typical acceleration cadence triggered by running—in the controller device (30), corresponding to the acceleration conditions (AC). The running acceleration pattern corresponds to a regular periodic pattern with two peaks per step cycle of greater amplitude, typically ranging from 2.5 to 3.5 Hz.
[0123] In another example, a transport mode (TM1) “bicycle / scooter” is automatically determined if the user's speed (Vil) is between 2 and 7 m / s, or optionally for another predetermined time interval, this being the speed condition (VC). Additionally, the transport mode (TM1) “bicycle / scooter” is confirmed by data from the commercial measuring unit (39) upon detection of an acceleration pattern, corresponding to the pedaling acceleration rate of a bicycle or a typical vibration pattern of a scooter, in the controller device (30), this being the acceleration condition (AC). For example, the bicycle acceleration pattern corresponds to a sinusoidal pattern, with a typical range of 0.8 to 1.5 Hz.
[0124] In another example, a transport mode (TM1) “car / motorcycle” is automatically determined if the user's speed (Vil) is greater than 8 m / s, optionally for another predetermined time interval, for example, for 5 seconds, this being the speed condition (VC). Additionally, the transport mode (TM1) “car / motorcycle” is confirmed by data from the industrial measuring unit (39) upon detection of an acceleration pattern, corresponding to a typical vibration pattern of the car or motorcycle in the controller device (30), this being the acceleration condition (AC). For example, the car / motorcycle acceleration pattern corresponds to high-frequency accelerations, for example, a typical range of 10 to 50 Hz, due to vibrations from the engine, tires, etc.
[0125] In one option, the method further comprises the step of partially or completely storing the step-by-step navigation addresses of the route in a memory (37) of the controller device (30) of Figs. 5 and 11 and in the cache memory (9) of the left device (10L) and / or right device (10R) of Fig. 10 connected to a processor (8). Thus, the bands (1) are stimulated in the event of a disconnection between the devices (10R, 10L) and the controller device (30) via the wireless network.
[0126] In Fig. 3, the method also includes the step of receiving in the navigation system (20) a confirmation from the user of the mode of transport (TM1, TM2) of each segment of the route.
[0127] This confirmation can be executed at any time after (p) automatically determining the mode of transport (TM1), either during navigation (at any intermediate position) or upon arrival at the destination position.
[0128] In Figs. 2, 3 and 11, this confirmation is received on a touch screen (35) of the controller device (30) when the user interacts with it.
[0129] In another option, in Figs. 3 and 6 to 9, this confirmation is received on the left device (10L) and / or right device (10R) when the user interacts with a user interface, for example, a button or another touch screen (not shown).
[0130] Preferably, the method further comprises the step of receiving, on a mobile phone acting as a controller device (30) and / or on the left device (10L) and / or on the right device (10R), a confirmation from the user of the start time and / or an end time of the route.
[0131] Fig. 1 shows that, preferably, the method further comprises the step of adapting (k) the left (LVP, LVPN) or right (RVP, RVPN) vibration pattern in a single stimulation module (4) of each left or right device (10L, 10R) at its starting instant (TI), and also its frequency and / or intensity, based on the transport mode (TM1, TM2), user speed (Vil) and distance to a turning position (PLT1, PLTN, PRT1, PRTN). Advantageously, the adaptation of vibration patterns (LVP, LVPN, RVP, RVPN) based on two combined dynamic variables, transport mode (TM1, TM2) and user speed (Vil), in combination with the changing distance of the user to the turning position (PLT1, PLTN, PRT1, PRTN) optimizes the user's perception during navigation, having the additional technical effect of improving the suitability of the haptic warning and improving the user's response time to the vibration patterns (LVP, LVPN, RVP, RVPN).
[0132] That is, in Figs. 1 and 2, during any one of the stimulation stages (f, g), the left (LVP, LVPN) or right (LVP, LVPN) vibration pattern changes, increasing the frequency and / or intensity of the vibration pattern, as the user position (PU) received in the localization module (32) approaches a left or right turning position (PLT1, PLN, PRT1, PRTN), respectively.
[0133] Optionally, in Figs. 1 and 2, the tactile stimulation device (4) of the right (10R) or left (10L) device provides a continuous left (LVP1, LVPN) or right (RVP1, RVPN) vibration pattern, when the user's position (PU) coincides with a left (PLT1, PLN) or right (PRT1, PRTN) turning position, respectively.
[0134] Furthermore, in this option of Figs. 1 and 2, the left (LVP1, LVPN) and right (RVP1, RVPN) vibration patterns are simultaneous when the user position (PU) coincides with the target position (PD).
[0135] Continuing in Figs. 1 to 11, the method further comprises the step of transmitting the signals received in step (e) from software stored in a memory area (37) of a mobile phone and / or a cloud server (not shown) acting as a controller device (30).
[0136] In this method, the speed conditions (VC) and / or acceleration conditions (AC) of Fig. 1 are modified by contextual and / or environmental route data received by the navigation system (20), processed by the computer programmable processing device (31) of Figs. 5 and 7 and / or by the processor (8) contained in the right (10R) and / or left (10L) device of Fig. 10. Thus, the mode of transport (TM1, TM2) can be determined and / or changed dynamically with greater accuracy and reliability. The environmental data may include, among other things, data relating to adverse weather conditions such as rain, fog, snow, wind, ice, or extreme temperatures; terrain and surface conditions such as slope, uneven terrain, stairs, or off-road paths; and environmental data such as lighting conditions (day / night), noise levels, or pollution indicators.
[0137] Thus, following the previous example, the transport mode (TM1) “running” under speed conditions (VC) with values between 3 and 5 m / s is reduced upon receiving adverse weather conditions data, becoming, for example, between 2 and 4 m / s.
[0138] Likewise, the acceleration conditions (AC) may change upon receiving adverse weather data, detecting the transport mode (TM1) “running” in a range between 2 and 3 Hz of the acceleration pattern, instead of the standardized values between 2.5 and 3.5 Hz when adverse weather data is not received.
[0139] Contextual data may include, but are not limited to, traffic incident data, road closures, detours, restrictions, road crossings or pedestrian crossings, entry into restricted areas, user detours such as stopping at a shop, cafe or other points of interest, and public transport factors such as timetable delays or seasonal changes.
[0140] In an example of contextual data, the stimulations of the bands (1) are paused, as well as the mode of transport, if the location module (32) obtains data that the user is stopped, for example, at a traffic light, accident or store.
[0141] When processing data with the module (32) detecting a certain positive user speed (VU) after said stop, the stimulations of the bands (1) are reactivated.
[0142] With a slow user speed (VU) (e.g., cycling at low speed in traffic), the bands (1) are stimulated less frequently to avoid distractions.
[0143] In response to rapid user acceleration (AU) or reactivation of user speed (VU), the bands (1) are stimulated more frequently to pre-turn position standard values (PLT1, PLTN, PRT1, PRTN). The method further comprises the step of using route data from a plurality of map engines integrated into the programmable processing device (31) to execute the steps of (p) automatically determining a mode of transport and (q) dynamically switching from one mode of transport (TM1) to another (TM2).
[0144] Thus, for example, the method may use data from the Mapbox and Here map engines, in combination.
[0145] In the method, the bands (1) are additionally stimulated by the tactile stimulation devices (4) individually or in combination, in response to route events, including such events: a lane guidance at multi-lane intersections, an exit selection at roundabouts, a rerouting in response to road closures or diversions, a change in legal traffic restrictions including speed limits, a dynamic change from one mode of transport (TM1) to another (TM2) of stage (q).
[0146] According to the second aspect of the invention, Figs. 2 to 11 show two embodiments of the haptic navigation system (20).
[0147] Common to both embodiments, the haptic navigation system (20) comprises two devices (10L, 10R), which correspond to a left device (10L) and a right device (10R) shown in Figs. 6 to 9.
[0148] In Figs. 3 and 6 to 9, each of the left and right devices (10L, 10R) comprises a band (1) attachable in an annular arrangement around a respective limb of a user, with or without clothing, including the cases of the arm (between the shoulder and the elbow), the forearm (between the elbow and the wrist), the wrist and the ankle, among other options.
[0149] The left device (10L) is intended to have its band (1) attached to the user's left limb, while the right device (10R) is intended to have its band (1) attached to the user's right limb.
[0150] Furthermore, each of the left and right devices (10L, 10R) comprises a wireless unit (3) and a touch stimulation module (4) connected to the wireless unit (3), as shown in Figs. 3 to 10. In each left and right device (10L, 10R) the wireless unit (3) and the touch stimulation module (4) are supported on the band (1).
[0151] Preferably, each stimulation module (4) comprises elements that are mounted eccentrically / unbalanced and / or comprises piezoelectric elements, vibrational elements, temperature variation elements such as resistors, among other 'tactile' stimuli.
[0152] Preferably, Fig. 5 shows that the wireless unit (3) and the touch stimulation module (4) of each left and right device (10L, 10R) are arranged in a module (2).
[0153] Optionally, each of the modules (2) of Figs. 4, 7, and 8 is removably mounted on the belt (1), either by clamping it into a recess or cavity in the belt (1), or by a locking and release device (not shown), such as a screw or similar element. Thus, each of the belts (1) is easily interchangeable.
[0154] Each of the bands (1) is water resistant and made using recyclable materials, silicone or polyurethane (Pll).
[0155] Each of the bands (1) in Figs. 4, 7, 8 and 9 may be made of titanium, ceramic or metal.
[0156] Continuing with Figs. 4 and 6, the navigation system (20) further comprises a controller device (30) which includes a computer programmable processor device (31).
[0157] Figures 4 and 6 show that the navigation system (20) further comprises a wireless module (33), a location module (32) and a router module (34) connected to the computer programmable processing device (31).
[0158] The controller device (30) in Figs. 4 and 6 preferably represents a smartphone, although it can alternatively be a tablet or smartwatch.
[0159] Preferably, the controller device (30) is wirelessly connected to the internet via the router module (34).
[0160] The navigation system (20) comprises means adapted for executing the steps of the method of the first aspect of the invention. Optionally, Figs. 5 and 11 show that the controller device (30) includes a memory (37) with a first, second, and third memory areas (37a, 37b, 37c) where the user's position (Pll) susceptible to being received in the location module (32), the initial (Pl) and destination (PD) positions, and data including step-by-step navigation directions are stored, respectively.
[0161] Preferably, Figs. 3, 5 and 11 show that the controller device (30) comprises a touch screen (35) connected to the computer programmable processor device (31).
[0162] Additionally, in Figs. 6 to 9, the navigation system (20) further comprises a user interface (7), two batteries (5), one for each left (10L) and right (10R) device, and another battery (36) in the controller device (30).
[0163] Each of the bands (1) of Figs. 3 and 6 to 9 are made of a flexible material, and optionally have a wireless induction receiver (not shown) arranged on the opposite side of the module (2), configured to charge the batteries (5) by electromagnetic induction, in a charging station comprising a pad with a wireless induction emitter (not shown), when the bands (1) are arranged on the pad in the plane of Fig. 10.
[0164] Optionally, Figs. 3 and 11 show that the navigation system (20) comprises an industrial measuring unit (39), equipped with an accelerometer and gyroscope, to execute the steps of the method of the first aspect of the invention cited above, related to the industrial measuring unit (39).
[0165] Additionally, in Figs. 3 and 10 the navigation system (20) comprises a memory (37) in the controller device (30) and a cache memory (9) connected to a processor (8) in the left device (10L) and / or right device (10R) to partially or completely store the step-by-step navigation directions of the route.
[0166] The scope of the present invention is defined by the following claims.
Claims
CLAIMS 1. A haptic navigation method for navigating from an initial position (Pl) to a destination position (PD), comprising a haptic navigation system (20) comprising: a left device (10L) and a right device (10R), each comprising a band (1) attachable in an annular arrangement around a respective limb of a user, and a wireless unit (3) and a tactile stimulation module (4) connected to the wireless unit (3) and supported on the band (1); and a controller device (30) including a computer-programmable processor device (31), and a wireless module (33), a localization module (32), and a router module (34) connected to the computer-programmable processor device (31), the method comprising the steps of: (a) continuously connect the left device (10L), the right device (10R), and the controller device (30) to each other via a wireless network; (b) continuously receive the user's position (PU) in the location module (32); (c) receive in the navigation system (20) the initial (Pl) and destination (PD) position of a route; (d) receive in the router module (34) step-by-step navigation directions of the route, which include left turn (PLT1 , PLTN) and right turn (PRT1 , PRTN) positions; (e) receive signals, via the wireless network, in each wireless unit (3) of each left and right device (10L, 10R), sent by the wireless module (33); (f) stimulating the band (1) of the left device (10L) with a left vibration pattern (LVP1, LVPN) provided by the tactile stimulation device (4) of the left device (10L), from the signals received, to indicate a left-turn position (PLT1, PLTN); (g) stimulating the band (1) of the right device (10R) with a right vibration pattern (RVP1, RVPN) provided by the tactile stimulation device (4) of the right device (10R), based on the received signals, to indicate a right-hand turning position (PRT1, PRTN); characterized in that it further comprises the stages of: (p) automatically determine a mode of transport (TM1), based at least on a user speed (Vil) and / or a user acceleration (All), determined with the user positions (Pll) received in the location module (32) at different times; (q) dynamically changing from one mode of transport (TM1) to another (TM2) at one or more intermediate positions (PTS2) between the initial position (Pl) and the destination position (PD), by comparing speed conditions (VC) with the user speed (Vil) and / or by comparing acceleration conditions (AC) with the user acceleration (All), storing in a memory area of the navigation system (20) a plurality of route segments (SR1, SR2) with a respective mode of transport.
2. Haptic navigation method according to claim 1, further comprising the step of receiving in the navigation system (20) a confirmation from the user of the mode of transport (TM1, TM2) of each segment of the route. 3.- Haptic navigation method according to claim 2, further comprising the stage of receiving, in a mobile phone acting as a controller device (30) and / or in the left device (10L) and / or in the right device (10R), a confirmation by the user of the start time and / or end time of the route. 4.- Haptic navigation method according to any one of the preceding claims, further comprising the step of adapting (k) the left (LVP, LVPN) or right (RVP, RVPN) vibration pattern at its starting instant (TI), and further its frequency and / or intensity, based on the mode of transport (TM1, TM2), user speed (Vil) and distance to a turning position (PLT 1 , PLTN, PRT 1 , PRTN).
5. Haptic navigation method according to any one of the preceding claims, further comprising the step of transmitting the signals received in step (e) from software stored in a memory area (37) of a mobile phone and / or a cloud server acting as a controller device (30).
6. Haptic navigation method according to any one of the preceding claims, wherein step (q) of dynamically changing from one mode of transport In another, the speed conditions (VC) and / or acceleration conditions (AC) are modified by contextual data and / or environmental data of the route received and processed in the navigation system (20). 7.- Haptic navigation method according to any one of the preceding claims, further comprising the step of using route data from a plurality of map engines integrated into the programmable processing device (31) to execute the steps of (p) automatically determining a mode of transport and (q) dynamically switching from one mode of transport (TM1) to another (TM2).
8. Haptic navigation method according to any one of the preceding claims, wherein the strips (1) are additionally stimulated by the tactile stimulation devices (4) individually or in combination, in response to route events, including such events: lane guidance at multi-lane intersections, exit selection at roundabouts, rerouting in response to road closures or diversions, a change in legal traffic restrictions including speed limits, and a dynamic change from one mode of transport (TM1) to another (TM2) of stage (q).
9. Haptic navigation method according to any one of the preceding claims, wherein in the step (q) of dynamically changing from one mode of transport (TM1) to another (TM2), the step of comparing acceleration conditions (AC) comprises the step of detecting a predetermined acceleration pattern from user acceleration data (All) obtained with an industrial measuring unit (39), equipped with an accelerometer and gyroscope, comprising the navigation system (20).
10. Haptic navigation method according to claim 9, wherein in step (q), a dynamic change from one mode of transport (TM1) to another (TM2) occurs if the user's speed (Vil) and the detected acceleration pattern are consistent with the same mode of transport (TM2) within predefined tolerances; and the navigation system (20) selects the mode of transport corresponding to the detected acceleration pattern if the user's speed (Vil) and the detected acceleration pattern are not consistent with the same mode of transport (TM2) within predefined thresholds greater than the predefined tolerances. 11.- Haptic navigation method according to claim 10, wherein in step (q), if the user's speed (Vil) and acceleration pattern are not consistent with the same mode of transport (TM2) within predefined margins greater than the predefined thresholds, the navigation system (20) identifies mode of transport detection inconsistency. 12.- Haptic navigation method according to any one of the preceding claims, further comprising the step of partially or completely storing the step-by-step navigation addresses of the route in a memory (37) of the controller device (30), and in a cache memory (9) of the left device (10L) and / or right device (10R) connected to a processor (8). 13.- Haptic navigation system (20), comprising: a left device (10L) and a right device (10R), each comprising a band (1) attachable in an annular arrangement around a respective limb of a user, and a wireless unit (3) and a tactile stimulation module (4) connected to the wireless unit (3) and supported on the band (1); and a controller device (30) including a computer-programmable processor device (31), and a wireless module (33), a localization module (32) and a router module (34) connected to the computer-programmable processor device (31); characterized in that it comprises means adapted for executing the steps of the method of any one of claims 1 to 8. 14.- Haptic navigation system (20) according to claim 13, comprising an industrial measuring unit (39), equipped with an accelerometer and gyroscope, for executing the steps of the method of any one of claims 9 to 11. 15.- Haptic navigation system (20) according to claim 13 or 14, comprising a memory (37) in the controller device (30) and a cache memory (9) connected to a processor (8) in the left device (10L) and / or right device (10R) to execute the steps of the method of claim 12.